Trajectory optimizers are a powerful class of methods for generating goal-directed robot
motion. Differential Dynamic Programming (DDP) is an indirect method which optimizes only …

Planning algorithms are impacting technical disciplines and industries around the world,
including robotics, computer-aided design, manufacturing, computer graphics, aerospace …

This paper presents Continuous Curvature (CC) Steer, a steering method for car-like
vehicles, ie, an algorithm planning paths in the absence of obstacles. CC Steer is the first to …

We consider finding a time-optimal trajectory for an airplane from some starting point and
orientation to some final point and orientation. Our model extends the Dubins car by LE …

The operation of an autonomous vehicle in an unknown, dynamic environment is a very
complex problem, especially when the vehicle is required to use its full maneuvering …

Consider a thin, flexible wire of fixed length that is held at each end by a robotic gripper. Any
curve traced by this wire when in static equilibrium is a local solution to a geometric optimal …

This paper presents the time optimal trajectories for differential drive vehicles in the
unobstructed plane. The wheel angular velocities are bounded, but may be discontinuous …

Presents a steering method for a car-like vehicle providing smooth paths subjected to
curvature constraints. We show how to integrate this steering method in a global motion …

In this paper, we study the problem of controlling a group of unmanned aerial vehicles
(UAVs) to provide convoy protection to a group of ground vehicles. The UAVs are modeled …

This chapter first provides a formulation of the geometric path planning problem in Sect. 7.2
and then introduces sampling-based planning in Sect. 7.3. Sampling-based planners are …